Shuo Yang

I am a PhD student at University of Pennsylvania, advised by Professor George J. Pappas. Previously, I obtained my Bachelor's degree from Shanghai Jiao Tong University in 2021, where I worked closely with Professor Xiang Yin. I have also spent time at Toyota Research and Tencent AI.

I am broadly interested in formal methods, machine learning, control theory, and algorithmic game theory, with their applications to robotic and multi-agents systems.

In the past, my work mainly cover

  • Game-theoretic motion planning for non-cooperative multi-agent systems
  • Learning-enabled safe planning and control for robotic and multi-agent systems
  • Building formal method guided trustworthy and reliable A.I. system
  • Formal verification and synthesis for hybrid systems
I am open to collaboration. Please drop me an email if you want to chat :)

Email  /  Linkedin /  CV  /  Github  /  Google Scholar

Recent news
[May 2024] I co-organized the 2nd Workshop on MAD-Games: Multi-Agent Dynamic Games at ICRA 2024, Japan.
[Apr 2024] Glad to hear that I am selected as a 2024 DAAD AInet Fellow on Safe and Secure AI.
[Mar 2024] I wrote a simple and easy-to-use Nash Equilibrium Solver for Two-Player Zero-Sum games, feel free to play around with it.
[Jan 2024] Our paper on Learning Adaptive Safety is accepted by ICRA 2024.
[Jan 2024] New work on Learning Local Safety Filters for Hybrid Systems [preprint][code].
[Jan 2024] I give a talk at CMU Intelligent Control Lab.
[Jan 2024] Our paper on Safe Hybrid System is accepted by ACC 2024.
[Dec 2023] Selected as a Global Young PhD Fellow of Linear Capital.
[Dec 2023] I am invited to be an Area Chair of Tiny Papers @ ICLR 2024.
[Sep 2023] I give a talk at UPenn ASSET Seminar with Rahul.
[Sep 2023] Invited talk at UPenn Formal Methods & Machine Learning Seminar.
[Jul 2023] I give a talk at UMich Prof. Necmiye Ozay's group.


(* indicates equal contribution)

Conformal Off-Policy Prediction for Multi-Agent Systems
Tom Kuipers, Renukanandan Tumu, Shuo Yang, Milad Kazemi, Rahul Mangharam, Nicola Paoletti
Under review [PDF]

Bridging the Gap between Discrete Agent Strategies in Game Theory and Continuous Motion Planning in Dynamic Environments
Hongrui Zheng, Zhijun Zhuang, Stephanie Wu, Shuo Yang, Rahul Mangharam
Under review [PDF]

Learning Local Control Barrier Functions for Safety Control of Hybrid Systems
Shuo Yang, Yu Chen, Xiang Yin, Rahul Mangharam
Under review [PDF][code]

Multi-agent reinforcement learning guided by signal temporal logic specifications
Jiangwei Wang, Shuo Yang, Ziyan An, Songyang Han, Zhili Zhang, Meiyi Ma, Rahul Mangharam, Fei Miao
Under review [PDF][code]

MEGA-DAgger: Imitation learning with multiple imperfect experts
Xiatao Sun*, Shuo Yang*, Mingyan Zhou, Kunpeng Liu, Rahul Mangharam
IEEE International Conference on Intelligent Transportation Systems (ITSC) 2024 [PDF][code]

Learning Adaptive Safety for Multi-Agent Systems
Luigi Berducci, Shuo Yang, Rahul Mangharam, Radu Grosu
IEEE International Conference on Robotics and Automation (ICRA) 2024 [PDF][code]

Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
Shuo Yang, Mitchell Black, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Rahul Mangharam
American Control Conference (ACC) 2024 [PDF][code]

Safe perception-based control under stochastic sensor uncertainty using conformal prediction
Shuo Yang, George J. Pappas, Rahul Mangharam, Lars Lindemann
IEEE Conference on Decision and Control (CDC) 2023 [PDF][code]

You don't know when I will arrive: unpredictable controller synthesis for temporal logic tasks
Yu Chen*, Shuo Yang*, Rahul Mangharam, Xiang Yin
22nd IFAC World Congress 2023 [PDF]

A benchmark comparison of imitation learning-based control policies for autonomous racing
Xiatao Sun, Mingyan Zhou, Zhijun Zhuang, Shuo Yang, Johannes Betz, Rahul Mangharam
IEEE Intelligent Vehicles Symposium (IV) 2023 [PDF][code]

Differentiable safe controller design through control barrier functions
Shuo Yang*, Shaoru Chen*, Victor M. Preciado, Rahul Mangharam
IEEE Control Systems Letters (L-CSS) 2022 [PDF][code]

Verification and Synthesis of Opacity for Cyber-Physical Systems
Shuo Yang
Undergraduate Thesis, Shanghai Jiao Tong University 2021
Outstanding Bachelor Thesis Award of SJTU

Secure your intention: On notions of pre-opacity in discrete-event systems
Shuo Yang, Xiang Yin
IEEE Transactions on Automatic Control (TAC) 2022 [PDF]

Opacity of networked supervisory control systems over insecure communication channels
Shuo Yang, Junyao Hou, Xiang Yin, Shaoyuan Li
IEEE Transactions on Control of Network Systems (TCNS) 2021 [PDF]

Secure-by-construction optimal path planning for linear temporal logic tasks
Shuo Yang, Xiang Yin, Shaoyuan Li and Majid Zamani
IEEE Conference on Decision and Control (CDC) 2020 [PDF]


University of Pennsylvania, Philadelphia, PA, USA
Research Assistant . Aug. 2021 to present
Advisor: George J. Pappas

Tencent AI
Research Scientist Intern. Jun. 2024 to Aug. 2024
Mentors: Haobo Fu and Weiming Liu

Toyota Research Institute of North America, Ann Arbor, MI, USA
Research Scientist Intern. May. 2023 to Aug. 2023
Mentors: Georgios Fainekos and Bardh Hoxha

Duke University, remote
Research Assistant . Jun. 2020 to Sep. 2020
Mentor: Michael Zavlanos

Shanghai Jiao Tong University, Shanghai, China
Research Assistant . Mar. 2019 to Jun. 2021
Advisor: Xiang Yin

Selected Honors

  • 2024, DAAD AInet Fellow
  • 2024, Global Young PhD Fellow of Linear Capital
  • 2023, ACC Travel Grant
  • 2021, The Dean's Fellowship from Penn
  • 2021, Solomon M. Swaab Fellowship from Penn
  • 2021, Outstanding Graduate of SJTU
  • 2021, Outstanding Bachelor Thesis Award from SJTU (top 1%)
  • 2020, Person of the Year of SJTU
  • 2018 & 2019, Outstanding Academic Scholarship from SJTU


  • Co-organizer: the 2nd Workshop on MAD-Games: Multi-Agent Dynamic Games @ ICRA 2024
  • Area Chair: Tiny Papers @ ICLR 2024, 2023
  • Reviewer:
    • American Control Conference (ACC)
    • IEEE Conference on Decision and Control (CDC)
    • International Conference on Cyber-Physical Systems (ICCPS)
    • Advances in Neural Information Processing Systems (NeurIPS)
    • AAAI Conference on Artificial Intelligence (AAAI)
    • IEEE Transactions on Automatic Control (TAC)
    • IEEE Robotics and Automation Letters (RA-L)
    • IEEE Control Systems Letters (L-CSS)
    • IEEE Transactions on Intelligent Vehicles (TIV)
    • Nonlinear Analysis: Hybrid Systems (NAHS)
    • IEEE International Conference on Robotics and Automation (ICRA)
    • IROS 2023 Workshop on Multi-agent Dynamic Games (MAD-Games)
    • NeurIPS 2023 AI for Science Workshop (AI4Science)
    • etc.

Template from Jon Barron.
Last updated April 2024.